CN217225581U - Industrial robot tongs structure - Google Patents
Industrial robot tongs structure Download PDFInfo
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- CN217225581U CN217225581U CN202123266549.XU CN202123266549U CN217225581U CN 217225581 U CN217225581 U CN 217225581U CN 202123266549 U CN202123266549 U CN 202123266549U CN 217225581 U CN217225581 U CN 217225581U
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- industrial robot
- gripper
- connecting block
- structure according
- pendulum
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Abstract
The utility model relates to an industrial robot tongs structure, it includes the bedplate, the fixed air chuck that is provided with on the bedplate, the last a plurality of motion pieces that are provided with of air chuck, the fixed tongs mount pad that is provided with in air chuck top, be provided with a plurality of pendulum rods on the tongs mount pad, a plurality of pendulum rods and a plurality of motion piece one-to-ones, the pendulum rod middle part is articulated mutually with the tongs mount pad through first round pin axle, the pendulum rod lower extreme is articulated mutually with the motion piece through second round pin axle, the fixed connecting block that is provided with in pendulum rod upper end, be provided with the finger on the connecting block. The utility model relates to an industrial robot tongs structure, it can be followed the material hole and supported the material and realize snatching the material to the material of adaptable different holes.
Description
Technical Field
The utility model relates to an industrial robot tongs structure belongs to spinning machine tool technical field.
Background
The current mechanical gripper structure is generally applied to the flow production line operation, and the traditional mechanical gripper often grabs the outer wall of material when snatching the material, and this kind of mode of snatching pollutes the material easily, and under the higher condition of some work piece surface quality requirements, traditional mechanical gripper can not satisfy the condition.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that an industrial robot tongs structure is provided to above-mentioned prior art, it can be followed the material hole and supported the material and realize snatching the material to the material of adaptable different holes.
The utility model provides a technical scheme that above-mentioned problem adopted does: the utility model provides an industrial robot tongs structure, it includes the bedplate, the fixed air chuck that is provided with on the bedplate, the last a plurality of motion pieces that are provided with of air chuck, the fixed tongs mount pad that is provided with in air chuck top, be provided with a plurality of pendulum rods on the tongs mount pad, a plurality of pendulum rods and a plurality of motion piece one-to-one, the pendulum rod middle part is articulated mutually with the tongs mount pad through first round pin axle, the pendulum rod lower extreme is articulated mutually with the motion piece through second round pin axle, the fixed connecting block that is provided with in pendulum rod upper end, be provided with the finger on the connecting block.
Optionally, the seat plate is provided with a plurality of positioning rods, the positioning rods are uniformly distributed relative to the center of the pneumatic chuck, and the pneumatic chuck is arranged on the positioning rods.
Optionally, the seat plate is provided with an opening, and the opening is located under the air chuck.
Optionally, the motion block is provided with a left support arm and a right support arm, and the second pin shaft is arranged between the left support arm and the right support arm in a penetrating manner.
Optionally, a sliding groove is formed in the lower end of the swing rod in the upward direction, and the second pin shaft is clamped in the sliding groove.
Optionally, the gripper mounting seat comprises a plurality of gripper seats, the gripper seats are evenly distributed relative to the center of the pneumatic chuck, the swing rod is arranged between two adjacent gripper seats, connecting plates are arranged on the left side and the right side of the swing rod, the left connecting plate and the right connecting plate are respectively arranged on the left adjacent gripper seat and the right adjacent gripper seat, and the first pin shaft penetrates between the left connecting plate and the right connecting plate.
Optionally, the connecting block is arranged along the radial direction of the pneumatic chuck, the outer end of the connecting block is connected with the upper end of the swing rod, and the fingers are fixedly arranged at the inner end of the connecting block.
Optionally, a supporting plate and a supporting rod are arranged between the gripper mounting seat and the seat plate, and the supporting plate and the supporting rod are respectively arranged on the left side and the right side of the pneumatic chuck.
Optionally, the finger upper end is provided with a tip.
Optionally, the lower end of the finger is provided with a limiting boss, the inner end of the connecting block is provided with a limiting clamping groove, and the limiting boss is matched with the limiting clamping groove.
Compared with the prior art, the utility model has the advantages of:
the utility model relates to an industrial robot tongs structure, it snatchs the material from the material hole, avoids damaging the material surface, and through arm of force lever principle, the finger can realize surmounting actuating mechanism's tensile force firmly grasping the object, snatchs the in-process at the finger and can prevent that the material pine from taking off with material axle center and radial centering.
Drawings
Fig. 1 is the utility model relates to an industrial robot tongs structure's assembly drawing.
Fig. 2 is an exploded view of the gripper structure of the industrial robot of the present invention.
Wherein:
Grab base 41
Connecting plate 42
Swing link 5
Connecting block 8
Limiting clamping groove 81
Limiting boss 92
Supporting plate 14
And a support bar 15.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
Referring to fig. 1 and 2, the utility model relates to an industrial robot gripper structure, which comprises a base plate 1, a pneumatic chuck 2 is fixedly arranged on the base plate 1, a plurality of moving blocks 3 are arranged on the pneumatic chuck 2, the moving blocks 3 can be driven to move inwards or outwards simultaneously through the pneumatic chuck 2, a gripper mounting seat 4 is fixedly arranged above the pneumatic chuck 2, a plurality of swing rods 5 are arranged on the gripper mounting seat 4, the swing rods 5 correspond to the moving blocks 3 one by one, the middle part of the swing rod 5 is hinged with the gripper mounting seat 4 through a first pin shaft 6, the lower end of the swing rod 5 is hinged with the moving blocks 3 through a second pin shaft 7, a connecting block 8 is fixedly arranged at the upper end of the swing rod 5, and a finger 9 is arranged on the connecting block 8;
the seat plate 1 is provided with a plurality of positioning rods 10, and the air chuck 2 is arranged on the plurality of positioning rods 10;
the positioning rods 10 are uniformly distributed relative to the center of the air chuck 2;
the seat plate 1 is provided with an opening 11, and the opening 11 is positioned right below the air chuck 2;
the pneumatic chuck 2 is preferably a three-jaw pneumatic chuck;
the motion block 3 is provided with a left support arm 12 and a right support arm 12, and the second pin shaft 7 is arranged between the left support arm 12 and the right support arm 12 in a penetrating way;
the lower end of the swing rod 5 is upwards provided with a sliding groove 13, and the second pin shaft 7 is clamped in the sliding groove 13;
the gripper mounting seat 4 comprises a plurality of gripper seats 41, the gripper seats 41 are uniformly arranged relative to the center of the pneumatic chuck 2, the swing rod 5 is arranged between two adjacent gripper seats 41, connecting plates 42 are arranged on the left side and the right side of the swing rod 5, the left connecting plate 42 and the right connecting plate 42 are respectively arranged on the left adjacent gripper seat 41 and the right adjacent gripper seat 41, and the first pin shaft 6 penetrates between the left connecting plate 42 and the right connecting plate 42;
the connecting block 8 is arranged along the radial direction of the pneumatic chuck 2, the outer end of the connecting block 8 is connected with the upper end of the swing rod 5, and the finger 9 is fixedly arranged at the inner end of the connecting block 8;
a supporting plate 14 and a supporting rod 15 are arranged between the hand grip mounting seat 4 and the seat plate 1;
the supporting plate 14 and the supporting rod 15 are respectively arranged at the left side and the right side of the air chuck 2;
the number of the support rods 15 is two, and the two support rods 15 are arranged in front and back;
the upper end of the finger 9 is provided with a tip part 91, so that the finger can be conveniently inserted into a center hole of some materials with films or other packing materials;
the lower end of the finger 9 is provided with a limiting boss 92, the inner end of the connecting block 8 is provided with a limiting clamping groove 81, the limiting boss 92 is matched with the limiting clamping groove 81, and the material can be limited to move along the center directions of the groups of fingers in the material grabbing process.
In addition to the above embodiments, the present invention also includes other embodiments, and all technical solutions formed by equivalent transformation or equivalent replacement modes should fall within the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides an industrial robot tongs structure which characterized in that: it includes bedplate (1), fixed air chuck (2) that is provided with on bedplate (1), be provided with a plurality of motion pieces (3) on air chuck (2), fixed tongs mount pad (4) that is provided with in air chuck (2) top, be provided with a plurality of pendulum rods (5) on tongs mount pad (4), a plurality of pendulum rods (5) and a plurality of motion pieces (3) one-to-one, pendulum rod (5) middle part is articulated mutually with tongs mount pad (4) through first round pin axle (6), pendulum rod (5) lower extreme is articulated mutually with motion piece (3) through second round pin axle (7), pendulum rod (5) upper end is fixed and is provided with connecting block (8), be provided with on connecting block (8) and indicate (9).
2. An industrial robot gripper structure according to claim 1, characterized in that: the pneumatic chuck is characterized in that a plurality of positioning rods (10) are arranged on the seat plate (1), the positioning rods (10) are evenly distributed relative to the center of the pneumatic chuck (2), and the pneumatic chuck (2) is arranged on the positioning rods (10).
3. An industrial robot gripper structure according to claim 1, characterized in that: the seat plate (1) is provided with an opening (11), and the opening (11) is located under the air chuck (2).
4. An industrial robot gripper arrangement according to claim 1, characterized in that: the motion block (3) is provided with a left support arm and a right support arm (12), and the second pin shaft (7) is arranged between the left support arm and the right support arm (12) in a penetrating manner.
5. An industrial robot gripper structure according to claim 4, characterized in that: the lower end of the swing rod (5) is upwards provided with a sliding groove (13), and the second pin shaft (7) is clamped in the sliding groove (13).
6. An industrial robot gripper structure according to claim 1, characterized in that: the gripper mounting seat (4) comprises a plurality of gripper seats (41), the gripper seats (41) are evenly distributed relative to the center of the pneumatic chuck (2), the swing rod (5) is arranged between every two adjacent gripper seats (41), connecting plates (42) are arranged on the left side and the right side of the swing rod (5), the left connecting plate and the right connecting plate (42) are respectively arranged on the left adjacent gripper seat and the right adjacent gripper seat (41), and the first pin shaft (6) penetrates between the left connecting plate and the right connecting plate (42).
7. An industrial robot gripper arrangement according to claim 1, characterized in that: connecting block (8) are radially arranged along air chuck (2), connecting block (8) outer end is connected with pendulum rod (5) upper end, finger (9) are fixed to be set up in connecting block (8) inner.
8. An industrial robot gripper structure according to claim 1, characterized in that: and a supporting plate (14) and a supporting rod (15) are arranged between the hand grip mounting seat (4) and the seat plate (1), and the supporting plate (14) and the supporting rod (15) are respectively arranged on the left side and the right side of the pneumatic chuck (2).
9. An industrial robot gripper structure according to claim 1, characterized in that: the upper end of the finger (9) is provided with a tip part (91).
10. An industrial robot gripper structure according to claim 1, characterized in that: the lower end of the finger (9) is provided with a limiting boss (92), the inner end of the connecting block (8) is provided with a limiting clamping groove (81), and the limiting boss (92) is matched with the limiting clamping groove (81).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123266549.XU CN217225581U (en) | 2021-12-23 | 2021-12-23 | Industrial robot tongs structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123266549.XU CN217225581U (en) | 2021-12-23 | 2021-12-23 | Industrial robot tongs structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217225581U true CN217225581U (en) | 2022-08-19 |
Family
ID=82825924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123266549.XU Active CN217225581U (en) | 2021-12-23 | 2021-12-23 | Industrial robot tongs structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217225581U (en) |
-
2021
- 2021-12-23 CN CN202123266549.XU patent/CN217225581U/en active Active
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